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    Modeling and simulation of a novel autonomous underwater vehicle with glider and flap**-foil propulsion capabilities

    HAISHEN is a long-ranged and highly maneuverable AUV which has two operating modes: glider mode and flap**-foil propulsion mode. As part of the vehicle development, a three-dimensional mathematical model of ...

    Wen-long Tian 田文龙, Bao-wei Song 宋保维, **ao-xu Du 杜晓旭… in China Ocean Engineering (2012)